V2P-Based Speed Guidance Method for Avoiding Vehicle–Pedestrian Collisions at Intersections

Conflicts between vehicles and pedestrians at unsignalized intersections occur frequently and often result in serious consequences. In order to alleviate traffic flow congestion at unsignalized intersections caused by accidents, reduce vehicle congestion time and waiting time, and improve intersection safety as well as intersection access efficiency, a speed guidance algorithm based on pedestrian-to-vehicle (P2V) and vehicle-to-pedestrian (V2P) communication technologies is proposed. The method considers the heading angle (direction of motion) of vehicles and pedestrians and combines the post encroachment time (PET) and time to collision (TTC) to determine whether there is a risk of collision, so as to guide the speed of vehicles. Network simulator NS3 and traffic flow simulation software SUMO are used to verify the effectiveness of the speed guidance strategy proposed in this article. The experimental findings demonstrate that the speed guidance strategy introduced in this article exhibits significant efficacy in mitigating conflicts, enhancing safety, and augmenting the throughput of unsignalized intersections. Specifically, when the penetration rate of intelligent connected vehicles attains 100%, there is a complete elimination (100% reduction) in the number of vehicles requiring emergency braking while traversing the intersection, and the queuing time is reduced by 16.1%.